Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism
The end stiffness characteristic of the mechanism has great influence on its positioning accuracy， compliance character and dynamic properties. In order to eliminate the configuration singularity， as well as to enhance its stiffness and accuracy， better dynamic property， a controllable stiffness of...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.05.008 |
| _version_ | 1826882645206761472 |
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| author | Shuangshuang Zhang Hongtao Yang Qigeng Liu |
| author_facet | Shuangshuang Zhang Hongtao Yang Qigeng Liu |
| author_sort | Shuangshuang Zhang |
| collection | DOAJ |
| description | The end stiffness characteristic of the mechanism has great influence on its positioning accuracy， compliance character and dynamic properties. In order to eliminate the configuration singularity， as well as to enhance its stiffness and accuracy， better dynamic property， a controllable stiffness of the mechanism is often required to satisfy different situations. On basis of full degree of freedom parallel mechanism， the design method by adding redundant actuated limbs to realize the end stiffness requirement is analyzed. According to screw theory， the inverse Jacobian matrix of parallel mechanism with limb single drive is analyzed， the mapping relationship matrix from the actuation to the end-effector stiffness is established. Then， the superposition rule of stiffness of each limb to the end stiffness component of the mechanism is analyzed. According to the end stiffness requirement， a stiffness synthesis method by adding redundant-actuated limbs to realize the end stiffness requirement is established. Finally， the Stewart parallel platform is adopted to verify this synthesis method， the design requirement of the end stiffness matrix decoupling is realized. |
| first_indexed | 2024-03-13T09:16:03Z |
| format | Article |
| id | doaj.art-54de966332454b9da2050edc52a6ef3c |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T03:14:04Z |
| publishDate | 2019-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-54de966332454b9da2050edc52a6ef3c2025-01-10T14:00:51ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-05-0143384330645793Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel MechanismShuangshuang ZhangHongtao YangQigeng LiuThe end stiffness characteristic of the mechanism has great influence on its positioning accuracy， compliance character and dynamic properties. In order to eliminate the configuration singularity， as well as to enhance its stiffness and accuracy， better dynamic property， a controllable stiffness of the mechanism is often required to satisfy different situations. On basis of full degree of freedom parallel mechanism， the design method by adding redundant actuated limbs to realize the end stiffness requirement is analyzed. According to screw theory， the inverse Jacobian matrix of parallel mechanism with limb single drive is analyzed， the mapping relationship matrix from the actuation to the end-effector stiffness is established. Then， the superposition rule of stiffness of each limb to the end stiffness component of the mechanism is analyzed. According to the end stiffness requirement， a stiffness synthesis method by adding redundant-actuated limbs to realize the end stiffness requirement is established. Finally， the Stewart parallel platform is adopted to verify this synthesis method， the design requirement of the end stiffness matrix decoupling is realized.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.05.008Stiffness synthesisRedundant actuationParallel mechanismStiffness decomposition |
| spellingShingle | Shuangshuang Zhang Hongtao Yang Qigeng Liu Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism Jixie chuandong Stiffness synthesis Redundant actuation Parallel mechanism Stiffness decomposition |
| title | Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism |
| title_full | Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism |
| title_fullStr | Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism |
| title_full_unstemmed | Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism |
| title_short | Theory of Stiffness Synthesis by Adding Redundant-actuated Limb on Spatial 6-DOF Parallel Mechanism |
| title_sort | theory of stiffness synthesis by adding redundant actuated limb on spatial 6 dof parallel mechanism |
| topic | Stiffness synthesis Redundant actuation Parallel mechanism Stiffness decomposition |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.05.008 |
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